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Hi,
It may be a problem with some missing or otherwise not working packages. tum simulator works with the hector packages. It is almost the same problem as this one but with an other package.
After having this sort of issue severals times I installed them all sudo apt install ros-kinetic-hector-* (for ROS kinetic).
To check if your problem is a matter of topic communication you may look at the log. The quadrotor state controller of the tum_simulator write a ros log of level INFO in the callback of its takeoff topic :
[ INFO] [1505746145.506239434, 678.070000000]:
Quadrotor takes off!!
hope it helps
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